#ifndef ORB_SELF_H_
#define ORB_SELF_H_

#include <opencv2/opencv.hpp>
using namespace std;

typedef vector<uint32_t> DescType;

void ComputeORB(const cv::Mat &img,
                vector<cv::KeyPoint> &keypoints,
                vector<DescType> &descriptors);

void BfMatch(const vector<DescType> &desc1,
             const vector<DescType> &desc2,
             vector<cv::DMatch> &matches);

#endif
